def visualization(self, ind, E):
if ind % 100 == 0 or self.done:
#----------- list structure
# V = np.array(list(initparams.V))
# E = initparams.E
#----------- end
# edges = initparams.E
Path = np.array(self.Path)
start = self.env.start
goal = self.env.goal
# edges = E.get_edge()
#----------- list structure
edges = np.array(list(E))
#----------- end
# generate axis objects
ax = plt.subplot(111, projection='3d')
# ax.view_init(elev=0.+ 0.03*initparams.ind/(2*np.pi), azim=90 + 0.03*initparams.ind/(2*np.pi))
# ax.view_init(elev=0., azim=90.)
ax.view_init(elev=8., azim=90.)
# ax.view_init(elev=-8., azim=180)
ax.clear()
# drawing objects
draw_Spheres(ax, self.env.balls)
draw_block_list(ax, self.env.blocks)
if self.env.OBB is not None:
draw_obb(ax, self.env.OBB)
draw_block_list(ax, np.array([self.env.boundary]), alpha=0)
draw_line(ax, edges, visibility=0.75, color='g')
draw_line(ax, Path, color='r')
# if len(V) > 0:
# ax.scatter3D(V[:, 0], V[:, 1], V[:, 2], s=2, color='g', )
ax.plot(start[0:1],
start[1:2],
start[2:],
'go',
markersize=7,
markeredgecolor='k')
ax.plot(goal[0:1],
goal[1:2],
goal[2:],
'ro',
markersize=7,
markeredgecolor='k')
# adjust the aspect ratio
xmin, xmax = self.env.boundary[0], self.env.boundary[3]
ymin, ymax = self.env.boundary[1], self.env.boundary[4]
zmin, zmax = self.env.boundary[2], self.env.boundary[5]
dx, dy, dz = xmax - xmin, ymax - ymin, zmax - zmin
ax.get_proj = make_get_proj(ax, 1 * dx, 1 * dy, 2 * dy)
make_transparent(ax)
#plt.xlabel('x')
#plt.ylabel('y')
ax.set_axis_off()
plt.pause(0.0001)
def visualization(self):
if self.ind % 100 == 0 or self.done:
V = np.array(self.V)
Path = np.array(self.Path)
start = self.env.start
goal = self.env.goal
# edges = []
# for i in self.Parent:
# edges.append([i, self.Parent[i]])
edges = np.array([list(i) for i in self.Edge])
ax = plt.subplot(111, projection='3d')
# ax.view_init(elev=0.+ 0.03*initparams.ind/(2*np.pi), azim=90 + 0.03*initparams.ind/(2*np.pi))
# ax.view_init(elev=0., azim=90.)
ax.view_init(elev=90., azim=0.)
ax.clear()
# drawing objects
draw_Spheres(ax, self.env.balls)
draw_block_list(ax, self.env.blocks)
if self.env.OBB is not None:
draw_obb(ax, self.env.OBB)
draw_block_list(ax, np.array([self.env.boundary]), alpha=0)
draw_line(ax, edges, visibility=0.75, color='g')
draw_line(ax, Path, color='r')
# if len(V) > 0:
# ax.scatter3D(V[:, 0], V[:, 1], V[:, 2], s=2, color='g', )
ax.plot(start[0:1],
start[1:2],
start[2:],
'go',
markersize=7,
markeredgecolor='k')
ax.plot(goal[0:1],
goal[1:2],
goal[2:],
'ro',
markersize=7,
markeredgecolor='k')
# adjust the aspect ratio
set_axes_equal(ax)
make_transparent(ax)
# plt.xlabel('s')
# plt.ylabel('y')
ax.set_axis_off()
plt.pause(0.0001)
def visualization(self, tree_a, tree_b, index):
if (index % 20 == 0 and index != 0) or self.done:
# a_V = np.array(tree_a.V)
# b_V = np.array(tree_b.V)
Path = self.Path
start = self.env.start
goal = self.env.goal
a_edges, b_edges = [], []
for i in tree_a.Parent:
a_edges.append([i, tree_a.Parent[i]])
for i in tree_b.Parent:
b_edges.append([i, tree_b.Parent[i]])
ax = plt.subplot(111, projection='3d')
ax.view_init(elev=8., azim=90.)
ax.clear()
draw_Spheres(ax, self.env.balls)
draw_block_list(ax, self.env.blocks)
if self.env.OBB is not None:
draw_obb(ax, self.env.OBB)
draw_block_list(ax, np.array([self.env.boundary]), alpha=0)
draw_line(ax, a_edges, visibility=0.75, color='g')
draw_line(ax, b_edges, visibility=0.75, color='y')
draw_line(ax, Path, color='r')
ax.plot(start[0:1],
start[1:2],
start[2:],
'go',
markersize=7,
markeredgecolor='k')
ax.plot(goal[0:1],
goal[1:2],
goal[2:],
'ro',
markersize=7,
markeredgecolor='k')
xmin, xmax = self.env.boundary[0], self.env.boundary[3]
ymin, ymax = self.env.boundary[1], self.env.boundary[4]
zmin, zmax = self.env.boundary[2], self.env.boundary[5]
dx, dy, _ = xmax - xmin, ymax - ymin, zmax - zmin
ax.get_proj = make_get_proj(ax, 1 * dx, 1 * dy, 2 * dy)
make_transparent(ax)
ax.set_axis_off()
plt.pause(0.0001)
def visualization(self):
if self.ind % 500 == 0:
V = np.array(self.V)
edges = list(map(list, self.E))
Path = np.array(self.Path)
start = self.env.start
goal = self.env.goal
# edges = E.get_edge()
#----------- list structure
# edges = []
# for i in self.Parent:
# edges.append([i,self.Parent[i]])
#----------- end
# generate axis objects
ax = plt.subplot(111, projection='3d')
# ax.view_init(elev=0.+ 0.03*self.ind/(2*np.pi), azim=90 + 0.03*self.ind/(2*np.pi))
# ax.view_init(elev=0., azim=90.)
ax.view_init(elev=90., azim=0.)
# ax.view_init(elev=-8., azim=180)
ax.clear()
# drawing objects
draw_Spheres(ax, self.env.balls)
draw_block_list(ax, self.env.blocks)
if self.env.OBB is not None:
draw_obb(ax, self.env.OBB)
draw_block_list(ax, np.array([self.env.boundary]), alpha=0)
draw_line(ax, edges, visibility=0.75, color='g')
draw_line(ax, Path, color='r')
if self.show_ellipse:
draw_ellipsoid(
ax, self.C, self.L, self.xcenter
) # beware, depending on start and goal position, this might be bad for vis
if len(V) > 0:
ax.scatter3D(
V[:, 0],
V[:, 1],
V[:, 2],
s=2,
color='g',
)
ax.plot(start[0:1],
start[1:2],
start[2:],
'go',
markersize=7,
markeredgecolor='k')
ax.plot(goal[0:1],
goal[1:2],
goal[2:],
'ro',
markersize=7,
markeredgecolor='k')
# adjust the aspect ratio
ax.dist = 5
set_axes_equal(ax)
make_transparent(ax)
#plt.xlabel('s')
#plt.ylabel('y')
ax.set_axis_off()
plt.pause(0.0001)
